Title:Cooperative Decision and Control with Intermittent Asynchronous Communication

Agency / Branch:DOD / USAF

Contract:FA9550-06-C-0088

Award Amount:$749,817.00

Abstract:

This proposal describes the development of an on-board planning module for coordinated search and tracking (CSAT) using low-cost (~50 lb class) UAVs. The NTC/MIT Phase I CSAT system, based on Robust Distributed Task Assignment (RDTA), has been tested in a unique communication emulation environment, which validated that RDTA and associated consensus management approaches work in the face of realistic communiation constraints. We also proved feasibility of distributed MILP-based planning using a prototype on-board planning module, through brass-board tested in a hardware-in-the loop simulation. Significant further enhancements, leading to both flight test and multi-vehicle HILsim testing are planned for Phase II.